ABSTRACT
This chapter is concerned with data registration of entire images or data sets. Many processes require that data from one image called the observed image be compared with or mapped to another image called the reference image. The registration process begins with the transformation of range image data to the wavelet domain. The registration process starts by applying a Daubechies-4 wavelet transform to each range image. The geometry used to unwrap omni images into sets of planar images or a panoramic is relatively straightforward. With a set of planar images or panoramic derived from an omni image, there are a number of alignment algorithms that can be used to transform one image to the coordinate system of another. The probability distribution of each planar image is provided to CAMSHIFT for processing each omni image. The geometry of the search window is altered to reflect the shape of the planar image projection into the omni-image.
